#ifndef serial_h #define serial_h /* serial.h */ /* APBTasserv - asservissement Robot 2004 {{{ * * Copyright (C) 2003 Nicolas Schodet * * Robot APB Team/Efrei 2004. * Web: http://assos.efrei.fr/robot/ * Mail: robot AT efrei DOT fr * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ /* Tampon de reception. */ #define SERIAL_RECV_BUF_LEN 20 char serial_recv_buf[SERIAL_RECV_BUF_LEN]; int serial_recv_buf_n; /* Macros de récupération de la commande recu. */ #define HEXBIN(a) (((a) >= '0' && (a) <= '9') ? (a) - '0' : (a) - ('a' - 10)) #define serial_recv_com() \ (serial_recv_buf[1]) #define serial_recv_int(v) \ ((v) = HEXBIN (serial_recv_buf[2]) << 4 | HEXBIN (serial_recv_buf[3])) #define serial_recv_int1(v) \ ((v) = HEXBIN (serial_recv_buf[4]) << 4 | HEXBIN (serial_recv_buf[5])) #define serial_recv_long(v) \ ((v) = make16 (HEXBIN (serial_recv_buf[2]) << 4 | HEXBIN \ (serial_recv_buf[3]), \ HEXBIN (serial_recv_buf[4]) << 4 | HEXBIN \ (serial_recv_buf[5]))) #define serial_recv_bool(v) \ ((v) = serial_recv_buf[2] == '1') /* +AutoDec */ /* Initialise la reception serie. */ void serial_init (void); /* Recois des caractères. */ #int_RDA serial_recv (); /* Envois des caractères. */ #int_TBE serial_send (); /* Traite la commande recue. */ void serial_parse (void); /* Envoie un code rezet. */ void serial_send_rezet (void); /* Envoie un code d'erreur. */ void serial_send_error (char c); /* Acquitte la trame en la renvoyant à l'expediteur. */ void serial_send_ok (void); /* Envoie un rapport d'un moteur. */ void serial_send_motor_stat (char side, unsigned int vacc, unsigned long &e, unsigned long &pwm); /* Envois les compteurs moteurs. */ void serial_send_motor_cpt (signed long &g, signed long &d); /* Envoie un signal de fin de ttl. */ void serial_send_motor_ttl (void); /* Envoie un caractère. */ void serial_send_char (char c); /* Envoie un caractère non-fiable. */ void serial_unreliable_send_char (char c); /* Envoie un long. */ void serial_send_long (unsigned long &value); /* Envoie un long non-fiable. */ void serial_unreliable_send_long (unsigned long &value); /* Envoie un int. */ void serial_send_int (unsigned int &value); /* Envoie un int non-fiable. */ void serial_unreliable_send_int (unsigned int &value); /* Termine le bloc non-fiable. */ void serial_unreliable_send_eob (void); /* -AutoDec */ #endif /* serial_h */